version: 66.04
glider: 14
mission: 6
dive: 179
start: 9 29 108 3 39 20
data:
$ID,14
$MISSION,6
$DIVE,179
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-653472.56
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2539
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.110782
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,033407,6410.436,-1120.500,32,1.1,32,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.7
$GPS2,033856,6410.397,-1120.500,13,1.1,13,-11.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,2BT
$TGT_LATLONG,6405.000,-1245.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,273.2,69124,-14.4,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,374,1596,2737
$GC,83,-1.16,-146.6,3.3,-5.1,3,113,11.35,2.47,-10.00,0.000,4,0.176,0.080,2414,3004,3137
$GC,136,-1.16,-146.6,12.6,-13.6,5,140,0.00,2.42,0.00,0.000,6,0.000,0.059,2414,1591,3139
$GC,455,-1.16,-146.6,53.5,-12.8,20,459,0.00,2.47,0.00,0.000,4,0.000,0.079,2414,213,3139
$GC,555,-1.16,-146.6,67.3,-13.1,24,562,0.00,2.35,0.00,0.000,6,0.000,0.054,2415,1636,3138
$GC,873,-1.16,-146.6,98.0,-7.1,40,877,0.00,2.55,0.00,0.000,4,0.000,0.075,2414,213,3140
$GC,1082,-1.16,-146.6,118.5,-11.7,49,1086,0.00,2.30,0.00,0.000,6,0.000,0.054,2414,1603,3140
$GC,1403,-1.16,-146.6,155.5,-12.0,65,1407,0.00,2.50,0.00,0.000,4,0.000,0.074,2414,207,3141
$GC,1488,-1.16,-146.6,166.1,-13.1,69,1493,0.00,2.33,0.00,0.000,6,0.000,0.055,2414,1606,3141
$GC,1816,-1.16,-146.6,205.3,-12.1,85,1820,0.00,2.50,0.00,0.000,4,0.000,0.075,2414,212,3141
$GC,1889,-1.16,-146.6,215.1,-13.5,88,1893,0.00,2.30,0.00,0.000,6,0.000,0.054,2414,1602,3142
$GC,2205,-1.16,-146.6,255.0,-12.7,103,2210,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,209,3141
$GC,2286,-1.16,-146.6,265.6,-12.6,106,2292,0.00,2.33,0.00,0.000,6,0.000,0.055,2414,1606,3142
$GC,2602,-1.16,-146.6,300.3,-9.8,122,2606,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,212,3142
$GC,2804,-1.16,-146.6,323.3,-11.2,131,2808,0.00,2.33,0.00,0.000,6,0.000,0.055,2414,1605,3142
$STATE,2812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2813,begin apogee
$GC,2822,-0.32,0.0,324.5,11.1,131,2957,0.88,0.00,126.40,0.863,6,0.106,0.000,2598,2195,2539
$STATE,2957,end apogee,CONTROL_FINISHED_OK
$STATE,2958,begin climb
$GC,2962,1.16,146.6,330.4,0.0,138,3090,1.52,2.72,118.53,0.851,4,0.085,0.096,2925,3586,1940
$GC,3198,1.18,156.6,317.5,7.6,149,3213,0.00,2.42,9.27,0.729,6,0.000,0.064,2924,2197,1900
$GC,3531,1.26,205.6,294.6,6.1,165,3574,0.12,0.00,40.53,0.827,6,0.066,0.000,2964,2197,1700
$GC,3880,1.28,219.6,264.7,7.5,182,3898,0.00,0.00,12.90,0.769,6,0.000,0.000,2964,2198,1642
$GC,4209,1.28,219.6,236.8,8.7,198,4213,0.00,2.53,0.00,0.000,4,0.000,0.075,2964,791,1641
$GC,4255,1.28,219.6,232.1,10.2,200,4260,0.00,2.38,0.00,0.000,6,0.000,0.055,2964,2203,1641
$GC,4589,1.28,219.6,199.0,10.2,216,4593,0.00,2.50,0.00,0.000,4,0.000,0.069,2964,798,1639
$GC,4668,1.28,219.6,190.4,10.3,219,4674,0.00,2.38,0.00,0.000,6,0.000,0.056,2964,2200,1639
$GC,4985,1.28,219.6,161.0,8.8,235,4989,0.00,2.50,0.00,0.000,4,0.000,0.070,2964,798,1639
$GC,5074,1.28,219.6,152.7,9.0,239,5079,0.00,2.40,0.00,0.000,6,0.000,0.056,2964,2201,1639
$GC,5398,1.29,223.8,126.9,7.8,255,5407,0.00,2.50,4.03,0.521,4,0.000,0.071,2964,796,1626
$GC,5470,1.29,223.8,120.5,8.3,258,5475,0.00,2.40,0.00,0.000,6,0.000,0.057,2964,2208,1626
$GC,5793,1.29,223.8,87.1,11.2,274,5797,0.00,2.53,0.00,0.000,4,0.000,0.071,2964,792,1626
$GC,5871,1.29,223.8,78.1,11.5,277,5878,0.00,2.40,0.00,0.000,6,0.000,0.057,2964,2199,1626
$GC,6190,1.29,223.8,47.3,9.5,293,6194,0.00,2.47,0.00,0.000,4,0.000,0.071,2964,797,1626
$GC,6370,1.29,223.8,30.4,9.5,301,6374,0.00,2.40,0.00,0.000,6,0.000,0.057,2964,2201,1626
$STATE,6695,end climb,SURFACE_DEPTH_REACHED
$STATE,6695,begin surface coast
$FINISH,0.3,1.013276
$STATE,6716,end surface coast,CONTROL_FINISHED_OK
$STATE,6716,begin surface
$SM_CCo,6742,40.45,0.657,0,0,1316,300.00
$SM_GC,1.47,0.00,0.00,40.45,0.000,0.000,0.657,379,1599,1316,-10.56,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1880
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,226.4,108.0
$24V_AH,23.8,26.332
$10V_AH,10.2,14.593
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.025,70.400,311.650,40.450,0.000,37.758,36.980,102.937,1.250,0.000,0.000,14.962,660.600,4700.236,439.900,910.221,377.099,0.000,913.303,0.000,891.117,0.000,10.577,0.000
$DEVICE_MAMPS,175.643,95.875,862.875,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.199,214.778,302.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,318
$CAP_FILE_SIZE,57907,0
$CFSIZE,254472192,242618368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,290908,053337,6409.597,-1122.474,30,1.4,30,-11.6